Trunk supporting exoskeleton and method of use
A trunk supporting exoskeleton comprises: a supporting trunk; thigh links configured to move in unison with a wearer's thighs; and first and second torque generators located on both left and right halves of the wearer substantially close to the wearer's hip. The torque generators couple the supporting trunk to the thigh links, and generate torque between the thigh links and the supporting trunk. When the wearer bends forward such that a predetermined portion of the supporting trunk passes beyond a predetermined angle from vertical, a torque generator(s) imposes a resisting torque between the supporting trunk and the thigh link(s), causing the supporting trunk to impose a force against the wearer's trunk, and the thigh link(s) to impose a force onto the wearer's thigh. When the predetermined portion does not pass beyond the predetermined angle, the torque generators impose no resisting torques between said supporting trunk and respective thigh links.
1 . An exoskeleton configured to be worn by a person to reduce muscle forces in a back of the person during forward bending, the exoskeleton comprising:
a supporting trunk configured to be coupled to the wearer's trunk;
first and second thigh links configured to move in unison with thighs of the wearer; and
a coupling device comprising:
a human interface system configured to be worn by the wearer;
a quick release mechanism comprising at least a first configuration and a second configuration for coupling and uncoupling the human interface system to the supporting trunk, wherein the quick release mechanism comprises a button assembly, a holding bracket, and a cavity, wherein the button assembly is operable to be coupled to one of the human interface system or the supporting trunk, wherein the holding bracket is operable to be coupled to the other one of the human interface system or the supporting trunk, and wherein the cavity is included in the holding bracket and is configured such that the button assembly can be moved into and removed from the cavity when the button assembly and the cavity are oriented along a first orientation relative to each other, and
a locking screw configured to be moved into the cavity to prevent the button assembly from sliding out of the cavity, and configured to be moved out of the cavity to allow the button assembly to slide out of the cavity,
wherein in the first configuration, the quick release mechanism is configured to couple the supporting trunk to the human interface system to prevent the exoskeleton from becoming uncoupled from the wearer while the human interface system is worn by the wearer, and
wherein in the second configuration, the quick release mechanism is configured to allow the supporting trunk to be uncoupled from the human interface system to allow the exoskeleton to be uncoupled from the wearer while the human interface system is worn by the wearer.
2 . The exoskeleton of claim 1 , wherein the human interface system comprises a waist belt, wherein the waist belt is configured to be coupled to the supporting trunk.
3 . The exoskeleton of claim 1 , wherein the human interface system comprises a shoulder strap, wherein the shoulder strap is configured to be coupled to the supporting trunk.
4 . The exoskeleton of claim 1 , wherein the human interface system comprises a thigh strap, wherein the thigh strap is configured to be coupled to the supporting trunk.
5 . The exoskeleton of claim 1 , wherein the human interface system is selected from a group consisting of: a safety harness, a fall protection safety harness, a fall prevention harness, a waist belt, a safety belt, a fall protection safety belt, a tool belt harness, a tool belt, a climbing harness, and any combination thereof.
6 . The exoskeleton of claim 1 , further comprising:
a first torque generator configured to be coupled to a left side of the wearer, the first torque generator being configured to couple the supporting trunk to the first thigh link and to generate torque between the first thigh link and the supporting trunk; and
a second torque generator configured to be coupled to a right side of the wearer, the second torque generator being configured to couple the supporting trunk to the second thigh link and to generate torque between the second thigh link and the supporting trunk.
7 . An exoskeleton configured to be worn by a person to reduce muscle forces in a back of the person during forward bending to a wearer, the exoskeleton comprising:
a supporting trunk configured to be coupled to the wearer's trunk;
first and second thigh links configured to move in unison with thighs of the wearer; and
a coupling device comprising:
a human interface system configured to be worn by the wearer; and
a block configured to be coupled to at least one component of the human interface system and to the supporting trunk to prevent the exoskeleton from becoming uncoupled from the wearer while the human interface system is worn by the wearer,
wherein the block comprises at least two openings and one or more threaded holes, wherein at least one component of the human interface system passes through the at least two openings, and wherein the one or more threaded holes are configured for use in coupling the block to the human interface system.
8 . The exoskeleton of claim 7 , wherein the at least one component of the human interface system is a waist belt.
9 . The exoskeleton of claim 7 , wherein the at least one component of the human interface system is a shoulder strap.
10 . The exoskeleton of claim 7 , wherein the at least one component of the human interface system is a thigh strap.
11 . The exoskeleton of claim 7 , wherein the block is configured to be coupled to the supporting trunk or the human interface system via a quick release mechanism, wherein the quick release mechanism comprises:
a button assembly configured to be coupled to one of the human interface system or the supporting trunk,
a holding bracket configured to be coupled to the other one of the human interface system or the supporting trunk, and
a cavity included in the holding bracket and configured such that the button assembly can be moved into and removed from the cavity when the button assembly and the cavity are oriented along a first orientation relative to each other.
12 . The exoskeleton of claim 11 , wherein after the button assembly is moved into the cavity, the supporting trunk is configured to be aligned in a second orientation wherein the button assembly is not capable of being removed from the cavity, and couples the supporting trunk and the human interface system to each other, and
wherein, when the supporting trunk is aligned in the first orientation, the button assembly is capable of being removed from the cavity to uncouple the supporting trunk from the human interface system.
13 . The exoskeleton of claim 7 , wherein the human interface system is selected from a group consisting of: a safety harness, a fall protection safety harness, a fall prevention harness, a waist belt, a safety belt, a fall protection safety belt, a tool belt harness, a tool belt, a climbing harness, and combinations thereof.
14 . The exoskeleton of claim 7 , further comprising:
first and second torque generators configured to be located on a left and right side of the wearer, configured to couple the supporting trunk to the first and second thigh links respectively, and configured to generate torque between the first and second thigh links and the supporting trunk.
15 . An exoskeleton configured to be worn by a person to reduce muscle forces in a back of the person during forward bending comprising:
a supporting trunk configured to be coupled to the wearer's trunk;
first and second thigh links configured to move in unison with thighs of the wearer, and a coupling device comprising:
a button assembly;
a holding bracket comprising a cavity, and
a locking screw configured to be moved into the cavity to prevent the button assembly from sliding out of the cavity, and configured to be moved out of the cavity to allow the button assembly to slide out of the cavity,
wherein the button assembly is configured to be coupled to one of a fall protection safety harness or the supporting trunk,
wherein the holding bracket is configured to be coupled to the other one of the fall protection safety harness or the supporting trunk, and
wherein the cavity is configured such that the button assembly can be moved into and removed from the cavity when the button assembly and the cavity are oriented along a first orientation relative to each other.
16 . The exoskeleton of claim 15 , wherein a waist belt of the fall protection safety harness is configured to be coupled to the supporting trunk.
17 . The exoskeleton of claim 15 , wherein shoulder straps of the fall protection safety harness are configured to be coupled to the supporting trunk.
18 . The exoskeleton of claim 15 , wherein thigh straps of the fall protection safety harness are configured to be coupled to the supporting trunk.